Development of Estimation Force Feedback Torque Control Algorithm for Driver Steering Feel in Vehicle Steer by Wire System: Hardware in the Loop

Table 1

Steering wheel system parameter.

Parameter	Description	Value	Unit
	Motor resistance	5.64	ohm
	Motor inductance	0.017	henry
	Motor constant	0.024	Nm
	Motor inertia	0.0036	kgm^2
	Motor damping	0.0068	Nm/(rad/s)
	Lumped torque stiffness	0.025	Nm
	Voltage source	—	Volt